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<h1>motor.c</h1><a href="motor_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 <span class="comment">// MakingThings - Make Controller Board - 2006</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">/** \file motor.c </span>
<a name="l00021"></a>00021 <span class="comment">  DC_Motor.</span>
<a name="l00022"></a>00022 <span class="comment">  Functions for controlling DC Motors with the MAKE Application Board.</span>
<a name="l00023"></a>00023 <span class="comment">*/</span>
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#include "motor.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "pwmout.h"</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "config.h"</span>
<a name="l00028"></a>00028 
<a name="l00029"></a>00029 <span class="preprocessor">#define MOTOR_COUNT 4</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="keyword">static</span> <span class="keywordtype">int</span> Motor_Start( <span class="keywordtype">int</span> motor );
<a name="l00032"></a>00032 <span class="keyword">static</span> <span class="keywordtype">int</span> Motor_Stop( <span class="keywordtype">int</span> motor );
<a name="l00033"></a>00033 
<a name="l00034"></a>00034 <span class="keyword">struct </span>Motor_
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036   <span class="keywordtype">int</span> users;
<a name="l00037"></a>00037   <span class="keywordtype">int</span> direction;
<a name="l00038"></a>00038   <span class="keywordtype">int</span> speed;
<a name="l00039"></a>00039 } Motor[ MOTOR_COUNT ];
<a name="l00040"></a>00040 
<a name="l00041"></a>00041 <span class="keyword">static</span> <span class="keywordtype">int</span> Motor_SetFinal( <span class="keywordtype">int</span> index, <span class="keyword">struct</span> Motor_ * mp );
<a name="l00042"></a>00042 <span class="comment"></span>
<a name="l00043"></a>00043 <span class="comment">/** \defgroup Motor</span>
<a name="l00044"></a>00044 <span class="comment">The Motor subsystem provides forward/reverse and speed control for up to 4 DC motors across the 8 high current outputs.</span>
<a name="l00045"></a>00045 <span class="comment">Each motor controller is composed of 2 adjacent Digital Outs on the Make Application Board:</span>
<a name="l00046"></a>00046 <span class="comment">- motor 0 - Digital Outs 0 and 1.</span>
<a name="l00047"></a>00047 <span class="comment">- motor 1 - Digital Outs 2 and 3.</span>
<a name="l00048"></a>00048 <span class="comment">- motor 2 - Digital Outs 4 and 5.</span>
<a name="l00049"></a>00049 <span class="comment">- motor 3 - Digital Outs 6 and 7.</span>
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment">Other output devices cannot be used simultaneously - for example, the DigitalOuts cannot be called without</span>
<a name="l00052"></a>00052 <span class="comment">first setting overlapping the DC motor I/O lines to inactive.</span>
<a name="l00053"></a>00053 <span class="comment">\ingroup AppBoard</span>
<a name="l00054"></a>00054 <span class="comment">@{</span>
<a name="l00055"></a>00055 <span class="comment">*/</span>
<a name="l00056"></a>00056 <span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment">/**</span>
<a name="l00058"></a>00058 <span class="comment">  Sets whether the specified motor is active.</span>
<a name="l00059"></a>00059 <span class="comment">  @param index An integer specifying which Motor (0-3).</span>
<a name="l00060"></a>00060 <span class="comment">  @param state An integer specifying the availability of the motor's I/O lines - 1 (active) or 0 (inactive).</span>
<a name="l00061"></a>00061 <span class="comment">  @return Zero on success.</span>
<a name="l00062"></a>00062 <span class="comment">*/</span>
<a name="l00063"></a><a class="code" href="group___motor.html#gf8d71c03dfb64c4b8421908e72a9b40d">00063</a> <span class="keywordtype">int</span> <a class="code" href="group___motor.html#gf8d71c03dfb64c4b8421908e72a9b40d" title="Sets whether the specified motor is active.">Motor_SetActive</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> state )
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= MOTOR_COUNT )
<a name="l00066"></a>00066     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00067"></a>00067 
<a name="l00068"></a>00068   <span class="keywordflow">if</span> ( state )
<a name="l00069"></a>00069     <span class="keywordflow">return</span> Motor_Start( index );
<a name="l00070"></a>00070   <span class="keywordflow">else</span>
<a name="l00071"></a>00071     <span class="keywordflow">return</span> Motor_Stop( index );
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment">/**</span>
<a name="l00075"></a>00075 <span class="comment">  Returns the active state of the DC Motor I/O lines.</span>
<a name="l00076"></a>00076 <span class="comment">  @param index An integer specifying which DC Motor (0-3).</span>
<a name="l00077"></a>00077 <span class="comment">  @return The availability of the motor's I/O lines - 1 (active) or 0 (inactive).</span>
<a name="l00078"></a>00078 <span class="comment">*/</span>
<a name="l00079"></a><a class="code" href="group___motor.html#ga885cbfed2a026671c481a831667faad">00079</a> <span class="keywordtype">int</span> <a class="code" href="group___motor.html#ga885cbfed2a026671c481a831667faad" title="Returns the active state of the DC Motor I/O lines.">Motor_GetActive</a>( <span class="keywordtype">int</span> index )
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= MOTOR_COUNT )
<a name="l00082"></a>00082     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00083"></a>00083   <span class="keywordflow">return</span> Motor[ index ].users &gt; 0;
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment">/** </span>
<a name="l00087"></a>00087 <span class="comment">  Set the speed of a DC motor.</span>
<a name="l00088"></a>00088 <span class="comment">  @param index An integer specifying which DC Motor (0-3).</span>
<a name="l00089"></a>00089 <span class="comment">  @param duty An integer (0 - 1023) specifying the speed.</span>
<a name="l00090"></a>00090 <span class="comment">  @returns Zero on success.</span>
<a name="l00091"></a>00091 <span class="comment">*/</span>
<a name="l00092"></a><a class="code" href="group___motor.html#g3f7d2e945b568737f9e685732d68c951">00092</a> <span class="keywordtype">int</span> <a class="code" href="group___motor.html#g3f7d2e945b568737f9e685732d68c951" title="Set the speed of a DC motor.">Motor_SetSpeed</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> duty )
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= MOTOR_COUNT )
<a name="l00095"></a>00095     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00096"></a>00096 
<a name="l00097"></a>00097   <span class="keyword">struct </span>Motor_* mp = &amp;Motor[ index ];
<a name="l00098"></a>00098 
<a name="l00099"></a>00099   <span class="keywordflow">if</span> ( mp-&gt;users == 0 )
<a name="l00100"></a>00100   {
<a name="l00101"></a>00101     <span class="keywordtype">int</span> status = Motor_Start( index );
<a name="l00102"></a>00102     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00103"></a>00103       <span class="keywordflow">return</span> status;
<a name="l00104"></a>00104   }
<a name="l00105"></a>00105   
<a name="l00106"></a>00106   mp-&gt;speed = duty;
<a name="l00107"></a>00107   
<a name="l00108"></a>00108   <span class="keywordflow">return</span> Motor_SetFinal( index, mp );
<a name="l00109"></a>00109 }
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment">/** </span>
<a name="l00112"></a>00112 <span class="comment">  Set the direction of a DC motor.</span>
<a name="l00113"></a>00113 <span class="comment">  @param index An integer specifying which DC Motor (0-3).</span>
<a name="l00114"></a>00114 <span class="comment">  @param forward A character specifying direction - 1/non-zero (forward) or 0 (reverse).</span>
<a name="l00115"></a>00115 <span class="comment">  @return Zero on success.</span>
<a name="l00116"></a>00116 <span class="comment">*/</span>
<a name="l00117"></a><a class="code" href="group___motor.html#g8283a6dfdaa8bbc1ca24dd1f5f2357db">00117</a> <span class="keywordtype">int</span> <a class="code" href="group___motor.html#g8283a6dfdaa8bbc1ca24dd1f5f2357db" title="Set the direction of a DC motor.">Motor_SetDirection</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">char</span> forward )
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= MOTOR_COUNT )
<a name="l00120"></a>00120     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00121"></a>00121 
<a name="l00122"></a>00122   <span class="keyword">struct </span>Motor_* mp = &amp;Motor[ index ];
<a name="l00123"></a>00123 
<a name="l00124"></a>00124   <span class="keywordflow">if</span> ( mp-&gt;users == 0 )
<a name="l00125"></a>00125   {
<a name="l00126"></a>00126     <span class="keywordtype">int</span> status = Motor_Start( index );
<a name="l00127"></a>00127     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00128"></a>00128       <span class="keywordflow">return</span> status;
<a name="l00129"></a>00129   }
<a name="l00130"></a>00130 
<a name="l00131"></a>00131   mp-&gt;direction = forward;
<a name="l00132"></a>00132 
<a name="l00133"></a>00133   <span class="keywordflow">return</span> Motor_SetFinal( index, mp );
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135 <span class="comment"></span>
<a name="l00136"></a>00136 <span class="comment">/** </span>
<a name="l00137"></a>00137 <span class="comment">  Read the speed of a DC motor.</span>
<a name="l00138"></a>00138 <span class="comment">  @param index An integer specifying which DC Motor (0-3).</span>
<a name="l00139"></a>00139 <span class="comment">  @return the speed (0 - 1023)</span>
<a name="l00140"></a>00140 <span class="comment">*/</span>
<a name="l00141"></a><a class="code" href="group___motor.html#g2e6e01625c02f51785b963d15d8e40f6">00141</a> <span class="keywordtype">int</span> <a class="code" href="group___motor.html#g2e6e01625c02f51785b963d15d8e40f6" title="Read the speed of a DC motor.">Motor_GetSpeed</a>( <span class="keywordtype">int</span> index )
<a name="l00142"></a>00142 {
<a name="l00143"></a>00143   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= MOTOR_COUNT )
<a name="l00144"></a>00144     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00145"></a>00145 
<a name="l00146"></a>00146   <span class="keyword">struct </span>Motor_* mp = &amp;Motor[ index ];
<a name="l00147"></a>00147 
<a name="l00148"></a>00148   <span class="keywordflow">if</span> ( mp-&gt;users == 0 )
<a name="l00149"></a>00149   {
<a name="l00150"></a>00150     <span class="keywordtype">int</span> status = Motor_Start( index );
<a name="l00151"></a>00151     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00152"></a>00152       <span class="keywordflow">return</span> 0;
<a name="l00153"></a>00153   }
<a name="l00154"></a>00154   
<a name="l00155"></a>00155   <span class="keywordflow">return</span> mp-&gt;speed;
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157 <span class="comment"></span>
<a name="l00158"></a>00158 <span class="comment">/** </span>
<a name="l00159"></a>00159 <span class="comment">  Read the direction of a DC motor.</span>
<a name="l00160"></a>00160 <span class="comment">  @param index An integer specifying which DC Motor (0-3).</span>
<a name="l00161"></a>00161 <span class="comment">  @return Direction - 1/non-zero (forward) or 0 (reverse).</span>
<a name="l00162"></a>00162 <span class="comment">*/</span>
<a name="l00163"></a><a class="code" href="group___motor.html#gad29d7d40bcdf1b47624f6630efb0fd4">00163</a> <span class="keywordtype">int</span> <a class="code" href="group___motor.html#gad29d7d40bcdf1b47624f6630efb0fd4" title="Read the direction of a DC motor.">Motor_GetDirection</a>( <span class="keywordtype">int</span> index )
<a name="l00164"></a>00164 {
<a name="l00165"></a>00165   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= MOTOR_COUNT )
<a name="l00166"></a>00166     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00167"></a>00167 
<a name="l00168"></a>00168   <span class="keyword">struct </span>Motor_* mp = &amp;Motor[ index ];
<a name="l00169"></a>00169 
<a name="l00170"></a>00170   <span class="keywordflow">if</span> ( mp-&gt;users == 0 )
<a name="l00171"></a>00171   {
<a name="l00172"></a>00172     <span class="keywordtype">int</span> status = Motor_Start( index );
<a name="l00173"></a>00173     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00174"></a>00174       <span class="keywordflow">return</span> 0;
<a name="l00175"></a>00175   }
<a name="l00176"></a>00176 
<a name="l00177"></a>00177   <span class="keywordflow">return</span> mp-&gt;direction;
<a name="l00178"></a>00178 }
<a name="l00179"></a>00179 <span class="comment"></span>
<a name="l00180"></a>00180 <span class="comment">/** @}</span>
<a name="l00181"></a>00181 <span class="comment">*/</span>
<a name="l00182"></a>00182 
<a name="l00183"></a>00183 <span class="keywordtype">int</span> Motor_Start( <span class="keywordtype">int</span> index )
<a name="l00184"></a>00184 {
<a name="l00185"></a>00185   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= MOTOR_COUNT )
<a name="l00186"></a>00186     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00187"></a>00187 
<a name="l00188"></a>00188   <span class="keyword">struct </span>Motor_* mp = &amp;Motor[ index ];
<a name="l00189"></a>00189   <span class="keywordflow">if</span> ( mp-&gt;users++ == 0 )
<a name="l00190"></a>00190   {
<a name="l00191"></a>00191     mp-&gt;direction = 1;
<a name="l00192"></a>00192     mp-&gt;speed = 0; 
<a name="l00193"></a>00193 
<a name="l00194"></a>00194     <span class="keywordtype">int</span> status = <a class="code" href="group___pwm_out.html#gacf6fba798cec68ce1ffe52e6908e380" title="Sets whether the specified PWM device is active.">PwmOut_SetActive</a>( index, <span class="keyword">true</span> );
<a name="l00195"></a>00195     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00196"></a>00196     {
<a name="l00197"></a>00197       mp-&gt;users--;
<a name="l00198"></a>00198       <span class="keywordflow">return</span> status;
<a name="l00199"></a>00199     }
<a name="l00200"></a>00200   }
<a name="l00201"></a>00201 
<a name="l00202"></a>00202   <span class="keywordflow">return</span> Motor_SetFinal( index, mp );
<a name="l00203"></a>00203 }
<a name="l00204"></a>00204 
<a name="l00205"></a>00205 <span class="keywordtype">int</span> Motor_Stop( <span class="keywordtype">int</span> index )
<a name="l00206"></a>00206 {
<a name="l00207"></a>00207   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= MOTOR_COUNT )
<a name="l00208"></a>00208     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00209"></a>00209 
<a name="l00210"></a>00210   <span class="keyword">struct </span>Motor_* mp = &amp;Motor[ index ];
<a name="l00211"></a>00211   <span class="keywordflow">if</span> ( --mp-&gt;users == 0 )
<a name="l00212"></a>00212   {  
<a name="l00213"></a>00213     <span class="keywordflow">return</span> <a class="code" href="group___pwm_out.html#gacf6fba798cec68ce1ffe52e6908e380" title="Sets whether the specified PWM device is active.">PwmOut_SetActive</a>( index, <span class="keyword">false</span> );
<a name="l00214"></a>00214   }
<a name="l00215"></a>00215 
<a name="l00216"></a>00216   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218 
<a name="l00219"></a>00219 
<a name="l00220"></a>00220 <span class="keyword">static</span> <span class="keywordtype">int</span> Motor_SetFinal( <span class="keywordtype">int</span> index, <span class="keyword">struct</span> Motor_ * mp )
<a name="l00221"></a>00221 {
<a name="l00222"></a>00222   <span class="keywordtype">int</span> speed = mp-&gt;speed;
<a name="l00223"></a>00223   <span class="comment">// Work out the speed</span>
<a name="l00224"></a>00224   <span class="keywordflow">if</span> ( !mp-&gt;direction )
<a name="l00225"></a>00225     speed *= -1;
<a name="l00226"></a>00226 
<a name="l00227"></a>00227   <span class="comment">// possibly add a dead zone inbetween?</span>
<a name="l00228"></a>00228   <span class="keywordtype">int</span> status;
<a name="l00229"></a>00229   <span class="keywordflow">if</span> ( speed &gt;= 0 )
<a name="l00230"></a>00230     status = <a class="code" href="group___pwm_out.html#gba27993e99ff3cff0537ce050884f880" title="Set the duty and the inversion of both channels of a PWM device.">PwmOut_SetAll</a>( index, speed, 0, 1 );
<a name="l00231"></a>00231   <span class="keywordflow">else</span>
<a name="l00232"></a>00232     status = <a class="code" href="group___pwm_out.html#gba27993e99ff3cff0537ce050884f880" title="Set the duty and the inversion of both channels of a PWM device.">PwmOut_SetAll</a>( index, -speed, 1, 0 );
<a name="l00233"></a>00233   <span class="keywordflow">return</span> status;
<a name="l00234"></a>00234 }
<a name="l00235"></a>00235 
<a name="l00236"></a>00236 <span class="preprocessor">#ifdef OSC</span>
<a name="l00237"></a>00237 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00238"></a>00238 <span class="comment">/** \defgroup MotorOSC Motor - OSC</span>
<a name="l00239"></a>00239 <span class="comment">  Control DC motors with the Application Board via OSC.</span>
<a name="l00240"></a>00240 <span class="comment">  \ingroup OSC</span>
<a name="l00241"></a>00241 <span class="comment">  </span>
<a name="l00242"></a>00242 <span class="comment">  \section devices Devices</span>
<a name="l00243"></a>00243 <span class="comment">  There are 4 DC Motor controllers available on the Application Board, numbered 0 - 3.</span>
<a name="l00244"></a>00244 <span class="comment">  </span>
<a name="l00245"></a>00245 <span class="comment">  Each motor controller is composed of 2 adjacent Digital Outs on the Make Application Board:</span>
<a name="l00246"></a>00246 <span class="comment">  - motor 0 - Digital Outs 0 and 1.</span>
<a name="l00247"></a>00247 <span class="comment">  - motor 1 - Digital Outs 2 and 3.</span>
<a name="l00248"></a>00248 <span class="comment">  - motor 2 - Digital Outs 4 and 5.</span>
<a name="l00249"></a>00249 <span class="comment">  - motor 3 - Digital Outs 6 and 7.</span>
<a name="l00250"></a>00250 <span class="comment">  </span>
<a name="l00251"></a>00251 <span class="comment">  \section properties Properties</span>
<a name="l00252"></a>00252 <span class="comment">  Each motor controller has three properties:</span>
<a name="l00253"></a>00253 <span class="comment">  - speed</span>
<a name="l00254"></a>00254 <span class="comment">  - direction</span>
<a name="l00255"></a>00255 <span class="comment">  - active</span>
<a name="l00256"></a>00256 <span class="comment"></span>
<a name="l00257"></a>00257 <span class="comment">  \par Speed</span>
<a name="l00258"></a>00258 <span class="comment">  The \b speed property corresponds to the speed at which a motor is being driven.</span>
<a name="l00259"></a>00259 <span class="comment">  This value can be both read and written.  The range of values expected by the board</span>
<a name="l00260"></a>00260 <span class="comment">  is from 0 - 1023.  A speed of 0 means the motor is stopped, and 1023 means it is</span>
<a name="l00261"></a>00261 <span class="comment">  being driven at full speed.</span>
<a name="l00262"></a>00262 <span class="comment">  \par</span>
<a name="l00263"></a>00263 <span class="comment">  To set the second motor (connected to Digital Outs 2 and 3) at half speed, send the message</span>
<a name="l00264"></a>00264 <span class="comment">  \verbatim /motor/1/speed 512 \endverbatim</span>
<a name="l00265"></a>00265 <span class="comment">  Leave the argument value off to read the speed of the motor:</span>
<a name="l00266"></a>00266 <span class="comment">  \verbatim /motor/1/speed \endverbatim</span>
<a name="l00267"></a>00267 <span class="comment">  </span>
<a name="l00268"></a>00268 <span class="comment">  \par Direction</span>
<a name="l00269"></a>00269 <span class="comment">  The \b direction property corresponds to the forward/reverse direction of the motor.</span>
<a name="l00270"></a>00270 <span class="comment">  This value can be both read and written, and the range of values expected is simply </span>
<a name="l00271"></a>00271 <span class="comment">  0 or 1.  1 means forward and 0 means reverse.</span>
<a name="l00272"></a>00272 <span class="comment">  \par</span>
<a name="l00273"></a>00273 <span class="comment">  For example, to set the first motor to move in reverse, send the message</span>
<a name="l00274"></a>00274 <span class="comment">  \verbatim /motor/0/direction 0 \endverbatim</span>
<a name="l00275"></a>00275 <span class="comment">  Simply change the argument of 0 to a 1 in order to set the motor's direction to forward.</span>
<a name="l00276"></a>00276 <span class="comment">  </span>
<a name="l00277"></a>00277 <span class="comment">  \par Active</span>
<a name="l00278"></a>00278 <span class="comment">  The \b active property corresponds to the active state of the motor.</span>
<a name="l00279"></a>00279 <span class="comment">  If the motor is set to be active, no other tasks will be able to</span>
<a name="l00280"></a>00280 <span class="comment">  use its 2 digital out lines.  If you're not seeing appropriate</span>
<a name="l00281"></a>00281 <span class="comment">  responses to your messages to the motor, check the whether it's </span>
<a name="l00282"></a>00282 <span class="comment">  locked by sending a message like</span>
<a name="l00283"></a>00283 <span class="comment">  \verbatim /motor/0/active \endverbatim</span>
<a name="l00284"></a>00284 <span class="comment">  \par</span>
<a name="l00285"></a>00285 <span class="comment">  If you're no longer using the motor, you can free the 2 Digital Outs by </span>
<a name="l00286"></a>00286 <span class="comment">  sending the message</span>
<a name="l00287"></a>00287 <span class="comment">  \verbatim /motor/0/active 0 \endverbatim</span>
<a name="l00288"></a>00288 <span class="comment">*/</span>
<a name="l00289"></a>00289 
<a name="l00290"></a>00290 <span class="preprocessor">#include "osc.h"</span>
<a name="l00291"></a>00291 <span class="preprocessor">#include "string.h"</span>
<a name="l00292"></a>00292 <span class="preprocessor">#include "stdio.h"</span>
<a name="l00293"></a>00293 
<a name="l00294"></a>00294 <span class="comment">// Need a list of property names</span>
<a name="l00295"></a>00295 <span class="comment">// MUST end in zero</span>
<a name="l00296"></a>00296 <span class="keyword">static</span> <span class="keywordtype">char</span>* MotorOsc_Name = <span class="stringliteral">"motor"</span>;
<a name="l00297"></a>00297 <span class="keyword">static</span> <span class="keywordtype">char</span>* MotorOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"speed"</span>, <span class="stringliteral">"direction"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l00298"></a>00298 
<a name="l00299"></a>00299 <span class="keywordtype">int</span> MotorOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value );
<a name="l00300"></a>00300 <span class="keywordtype">int</span> MotorOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property );
<a name="l00301"></a>00301 
<a name="l00302"></a>00302 <span class="comment">// Returns the name of the subsystem</span>
<a name="l00303"></a>00303 <span class="keyword">const</span> <span class="keywordtype">char</span>* MotorOsc_GetName( )
<a name="l00304"></a>00304 {
<a name="l00305"></a>00305   <span class="keywordflow">return</span> MotorOsc_Name;
<a name="l00306"></a>00306 }
<a name="l00307"></a>00307 
<a name="l00308"></a>00308 <span class="comment">// Now getting a message.  This is actually a part message, with the first</span>
<a name="l00309"></a>00309 <span class="comment">// part (the subsystem) already parsed off.</span>
<a name="l00310"></a>00310 <span class="keywordtype">int</span> MotorOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l00311"></a>00311 {
<a name="l00312"></a>00312   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#gdaa5a3868eeedcf785c3d52f6b36ef34" title="Receive integers for a subsystem with multiple indexes.">Osc_IndexIntReceiverHelper</a>( channel, message, length, 
<a name="l00313"></a>00313                                      MOTOR_COUNT, MotorOsc_Name,
<a name="l00314"></a>00314                                      MotorOsc_PropertySet, MotorOsc_PropertyGet, 
<a name="l00315"></a>00315                                      MotorOsc_PropertyNames );
<a name="l00316"></a>00316                                      
<a name="l00317"></a>00317   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00318"></a>00318     <span class="keywordflow">return</span> Osc_SendError( channel, MotorOsc_Name, status );
<a name="l00319"></a>00319   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00320"></a>00320 }
<a name="l00321"></a>00321 
<a name="l00322"></a>00322 <span class="comment">// Set the index LED, property with the value</span>
<a name="l00323"></a>00323 <span class="keywordtype">int</span> MotorOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value )
<a name="l00324"></a>00324 {
<a name="l00325"></a>00325   <span class="keywordflow">switch</span> ( property )
<a name="l00326"></a>00326   {
<a name="l00327"></a>00327     <span class="keywordflow">case</span> 0: 
<a name="l00328"></a>00328       <a class="code" href="group___motor.html#gf8d71c03dfb64c4b8421908e72a9b40d" title="Sets whether the specified motor is active.">Motor_SetActive</a>( index, value );
<a name="l00329"></a>00329       <span class="keywordflow">break</span>;      
<a name="l00330"></a>00330     <span class="keywordflow">case</span> 1:
<a name="l00331"></a>00331       <a class="code" href="group___motor.html#g3f7d2e945b568737f9e685732d68c951" title="Set the speed of a DC motor.">Motor_SetSpeed</a>( index, value );
<a name="l00332"></a>00332       <span class="keywordflow">break</span>;
<a name="l00333"></a>00333     <span class="keywordflow">case</span> 2:
<a name="l00334"></a>00334       <a class="code" href="group___motor.html#g8283a6dfdaa8bbc1ca24dd1f5f2357db" title="Set the direction of a DC motor.">Motor_SetDirection</a>( index, value );
<a name="l00335"></a>00335       <span class="keywordflow">break</span>;
<a name="l00336"></a>00336   }
<a name="l00337"></a>00337   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00338"></a>00338 }
<a name="l00339"></a>00339 
<a name="l00340"></a>00340 <span class="comment">// Get the index LED, property</span>
<a name="l00341"></a>00341 <span class="keywordtype">int</span> MotorOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property )
<a name="l00342"></a>00342 {
<a name="l00343"></a>00343   <span class="keywordtype">int</span> value = 0;
<a name="l00344"></a>00344   <span class="keywordflow">switch</span> ( property )
<a name="l00345"></a>00345   {
<a name="l00346"></a>00346     <span class="keywordflow">case</span> 0:
<a name="l00347"></a>00347       value = <a class="code" href="group___motor.html#ga885cbfed2a026671c481a831667faad" title="Returns the active state of the DC Motor I/O lines.">Motor_GetActive</a>( index );
<a name="l00348"></a>00348       <span class="keywordflow">break</span>;
<a name="l00349"></a>00349     <span class="keywordflow">case</span> 1:
<a name="l00350"></a>00350       value = <a class="code" href="group___motor.html#g2e6e01625c02f51785b963d15d8e40f6" title="Read the speed of a DC motor.">Motor_GetSpeed</a>( index );
<a name="l00351"></a>00351       <span class="keywordflow">break</span>;
<a name="l00352"></a>00352     <span class="keywordflow">case</span> 2:
<a name="l00353"></a>00353       value = <a class="code" href="group___motor.html#gad29d7d40bcdf1b47624f6630efb0fd4" title="Read the direction of a DC motor.">Motor_GetDirection</a>( index );
<a name="l00354"></a>00354       <span class="keywordflow">break</span>;
<a name="l00355"></a>00355   }
<a name="l00356"></a>00356   
<a name="l00357"></a>00357   <span class="keywordflow">return</span> value;
<a name="l00358"></a>00358 }
<a name="l00359"></a>00359 
<a name="l00360"></a>00360 <span class="preprocessor">#endif</span>
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
    Bug tracker, development wiki and status can be found at <a href="http://dev.makingthings.com">http://dev.makingthings.com</a>.<br />
		This document was last updated on 5 Dec 2007.
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